NYS Inspection minimum requirements are 1/16 of an inch (1.6mm), and 1/32 (0.8mm) over a rivet head.
Keep in mind those are minimums. For typical use, a 12mm pad lasts about 50k miles. So if the pad is at 2mm, expect that it will be out of inspection in 4k miles.
Personally, if I am in working, and find the pads less than 4mm, I will replace them. It's not worth the overhead to get back in within a fairly short time to replace them, and I generally have extra pads on hand. However there is a personal choice trading time versus probability of near-term repair requiring re-disassembly.